CN106618965A - Wearable extremity rehabilitation training system and control method - Google Patents
Wearable extremity rehabilitation training system and control method Download PDFInfo
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- CN106618965A CN106618965A CN201710045457.8A CN201710045457A CN106618965A CN 106618965 A CN106618965 A CN 106618965A CN 201710045457 A CN201710045457 A CN 201710045457A CN 106618965 A CN106618965 A CN 106618965A
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- 238000012549 training Methods 0.000 title claims abstract description 105
- 238000000034 method Methods 0.000 title claims abstract description 17
- 238000012545 processing Methods 0.000 claims abstract description 68
- 230000009471 action Effects 0.000 claims abstract description 42
- 230000033001 locomotion Effects 0.000 claims abstract description 19
- 238000011156 evaluation Methods 0.000 claims abstract description 10
- 238000004148 unit process Methods 0.000 claims abstract description 5
- 230000033764 rhythmic process Effects 0.000 claims description 30
- 206010016256 fatigue Diseases 0.000 claims description 19
- 239000000284 extract Substances 0.000 claims description 16
- 210000003205 muscle Anatomy 0.000 claims description 14
- 230000029058 respiratory gaseous exchange Effects 0.000 claims description 14
- 230000008859 change Effects 0.000 claims description 12
- 206010049565 Muscle fatigue Diseases 0.000 claims description 9
- 230000035479 physiological effects, processes and functions Effects 0.000 claims description 8
- 230000001133 acceleration Effects 0.000 claims description 7
- 230000003387 muscular Effects 0.000 claims description 7
- 230000004308 accommodation Effects 0.000 claims description 6
- 230000002060 circadian Effects 0.000 claims description 6
- 230000005484 gravity Effects 0.000 claims description 6
- 230000035790 physiological processes and functions Effects 0.000 claims description 5
- 230000015572 biosynthetic process Effects 0.000 claims description 3
- 238000012423 maintenance Methods 0.000 claims description 3
- 239000013641 positive control Substances 0.000 claims description 2
- 230000008439 repair process Effects 0.000 claims description 2
- 230000000694 effects Effects 0.000 abstract description 4
- 238000013461 design Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000012937 correction Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
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- 230000036541 health Effects 0.000 description 2
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- 230000032683 aging Effects 0.000 description 1
- 230000036772 blood pressure Effects 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012854 evaluation process Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 230000003862 health status Effects 0.000 description 1
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- 230000002045 lasting effect Effects 0.000 description 1
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- 230000003183 myoelectrical effect Effects 0.000 description 1
- 230000002688 persistence Effects 0.000 description 1
- 230000037081 physical activity Effects 0.000 description 1
- 238000005728 strengthening Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
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- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
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Abstract
The invention relates to the field of rehabilitation training systems, in particular to a wearable extremity rehabilitation training system and a control method. The training intensity of a rehabilitation trainer can be adjusted in real time by performing dynamic evaluation on a physiological status of a rehabilitee in rehabilitation training, the training intensity controllability of the rehabilitation trainer is guaranteed, and an excellent rehabilitation effect is guaranteed. The wearable extremity rehabilitation training system comprises an auxiliary power unit, a physical quantity acquisition unit, a physical quantity processing unit, a physiological signal acquisition unit, a physiological signal processing unit and a rehabilitation assessment unit, wherein the physical quantity acquisition unit transfers the acquired physical quantity to the physical quantity processing unit; the physical quantity processing unit processes the physical quantity to form an action feedback signal to a master control unit; the physiological signal acquisition unit transfers the acquired physiological signal to the physiological signal processing unit; the physiological signal processing unit processes a body movement electromyographic signal and generates a real-time electromyographic feedback signal to the master control unit for processing; the master control unit generates a control signal to the auxiliary power unit according to the real-time electromyographic feedback signal and the action feedback signal.
Description
Technical field
The present invention relates to rehabilitation training system field, specially a kind of Wearable limb rehabilitation training system and controlling party
Method.
Background technology
Today's society exist it is substantial amounts of cause the impaired crowd of limb activity ability due to wound, while with aging plus
Play, there is also the old people of a large amount of limb activity reduced capabilities, be the mobility for strengthening this kind of people, and engineers and technicians design
Various force aid systems.Wearable auxiliary rehabilitation exercise robot copies human limb's structure and designs, and aids in people with disability
The personnel being damaged with limb activity ability carry out the action of limbs.Normal person can also put on rehabilitation aid system, for being lifted
The heavy burden ability of human body.
For existing design, it is only limitted to help this kind of people to carry out rehabilitation exercise motion, not real-time monitoring rehabilitation training person
Physiological statuss, such as pulse, electrocardio, blood pressure, breathing, brain wave, muscular states, it is impossible to the accurate tired shape of assessment body
State etc., it is impossible to adjusting training intensity, or deconditioning in time in time, it is ensured that the training in intensity controlled of rehabilitation training person
During, excessive or overwork is so easily caused, so as to influence whether rehabilitation efficacy, or even the health status for affecting body.
The content of the invention
It is adapted to adjustment instruction because carrying out according to the physiological statuss by rehabilitation training crowd for existing rehabilitation training system
Practice intensity and cause the impacted shortcoming of rehabilitation efficacy, the invention provides a kind of Wearable limb rehabilitation training system, it can
To carry out dynamic evaluation according to the physiological statuss of rehabilitation clients in rehabilitation training, the training strength of real-time adjustment rehabilitation training person is protected
Card rehabilitation training person's training strength is controllable, it is ensured that preferable rehabilitation efficacy.
The present invention is implemented by the following technical programs：A kind of Wearable limb rehabilitation training system, it includes：
Auxiliary power unit, to wearer the auxiliary power of limb action is provided；
Physical quantity collecting unit, detects the physical quantity of wearer's limb action, and is supplied to physical quantity processing unit；
Physical quantity processing unit, the physical quantity that extracts physical amount collecting unit is provided, generation action feedback signal is supplied to master control
Unit；
Physiological signal collection unit, detects the electromyographic signal of wearer's limb action, and is supplied to physiological single processing unit；
Physiological single processing unit, extracts electromyographic signal and generates EMG feedback signal to main control unit, main control unit, using life
The action feedback signal that the real-time EMG feedback signal and physical quantity processing unit that reason signal processing unit is generated is provided, generates control
Signal processed drives auxiliary power unit work；
It is characterized in that：The physiological signal collection unit also detects the physiological signal of wearer, the physiological single processing list
Unit generates biofeedback signals and is supplied to rehabilitation assessment unit according to the physiological signal that physiological signal collection unit is provided；
The rehabilitation assessment unit, the rehabilitation of wearer is assessed according to the biofeedback signals of physiological single processing unit offer
State, there is provided condition feeds back signal to main control unit；
The condition feedback signal that the main control unit feeds back according to the rehabilitation assessment unit, during to wearer's rehabilitation exercise
Limb action intensity make adjustment.
It is further characterized by：
When the condition feedback signal that the main control unit is received shows that wearer is not suitable for continuing to move, to status alert
Unit sends alarm signal, and the status alert unit is used to receiving the alarm signal that main control unit sends and realizes reporting to the police；
The physical quantity of the limb action of described physical quantity collecting unit collection includes angle, angular velocity, acceleration and pressure, institute
State the position of centre of gravity physical quantity that physical quantity collecting unit also gathers wearer's own bodies；Described physiological signal collection unit is adopted
The physiological signal of collection includes electrocardiosignal, pulse signal and breath signal；
The biofeedback signals include electromyographic signal rhythm and pace of moving things energy variation trend, breathing rate, pulse rate and heart rate；
The condition feedback signal includes that condition adjustment factor, muscular states adjust system and physiological statuss alarm signal
Number；
A kind of control method of Wearable limb rehabilitation training system,
It is characterized in that：
In the Wearable limb rehabilitation training system in the state of dress training, physical quantity collecting unit will be collected
Physical quantity passes to physical quantity processing unit, and formation action after physical quantity processing unit processes feeds back signal to main control unit, raw
The physiological signal for collecting is passed to physiological single processing unit by reason signal gathering unit, and physiological single processing unit is by physiology
Limb action electromyographic signal in signal generates real-time EMG feedback signal and is processed to main control unit after processing, main control unit
Control signal is produced to auxiliary power unit according to real-time EMG feedback signal and action feedback signal；Auxiliary power unit is worn
Wearer provides the auxiliary power of limb action；Physiological single processing unit will generate biofeedback signals and give after physiological single processing
Rehabilitation assessment unit, generates condition and feeds back signal to main control unit after rehabilitation assessment unit evaluation biofeedback signals, repair
Positive control signal provides alarm signal；
Its further feature：
The physiological signal of physiological signal collection unit collection includes electrocardiosignal, breath signal and pulse signal, at physiological signal
Reason unit is calculated including the physiological parameter including breathing rate, pulse rate, heart rate, according to these physiological parameters, rehabilitation assessment list
Unit's assessment human body physiological state, and feed back to the stable physiological statuss of main control unit adjustment limb action intensity maintenance；Work as judgement
When trainer is excessively tired out, system provides alarm signal, reminds and terminates training；In shape of the limb rehabilitating system in dress training
Under state, physiological single processing unit is carried out processing the change for obtaining electromyographic signal rhythm and pace of moving things energy and to the electromyographic signal for collecting
Gesture, according to the trend, the rehabilitation state and fatigue state of rehabilitation assessment unit evaluation muscle, and feeds back master control list by assessment result
Unit, active accommodation rehabilitation training；
When wearer wears rehabilitation training system and carries out rehabilitation training, the physiological signal of wearer is detected, therefrom extract real-time myoelectricity
Signal, generates EMG feedback signal to main control unit, generates the basic control signal of auxiliary power unit, corresponding electromyographic signal
During increase, the direction confirmed according to the electromyographic signal provides power-assisted, and according to the size of electromyographic signal the big of power-assisted is provided in proportion
It is little；
When wearer wears rehabilitation training system and carries out rehabilitation training, the physical quantity signal of wearer is detected, extract the angle of limbs
The signals such as degree, limb motion amplitude, form the circadian signal of limb motion, there is provided give physiological single processing list by above-mentioned signal
Unit；Physiological single processing unit forms the electromyographic signal energy of each rhythm and pace of moving things according to circadian signal and electromyographic signal, further takes
The energy trend changed according to the rhythm and pace of moving things is obtained, for assessing the muscle fatigue state of rehabilitation clients, using muscle fatigue feedback of status, works as flesh
When electric rhythm and pace of moving things energy and myoelectricity rhythm and pace of moving things energy gradient are higher than the upper limit or less than lower limit, system provides alarm signal, reminds
The rehabilitation care provider intervention adjustment rehabilitation training time, it is ensured that rehabilitation training person is not at muscle and crosses fatigue state；
When wearer wears rehabilitation training system and carries out rehabilitation training, the physiological signal of wearer is detected, therefrom extract heart rate（Can
With from sensors such as electrocardio, pulse or breathings）, and the rate of change of heart rate, assess the fatigue of the body of rehabilitation training person
State, is fed back using fatigue state, dynamic adjustment rehabilitation training intensity, it is ensured that rehabilitation training person is in physiology plateau；
When heart rate is higher than the upper limit or during less than lower limit, system provides alarm signal, reminds rehabilitation care provider intervention, confirms rehabilitation instruction
White silk person's condition, it is to avoid rehabilitation training person is in the hole；
Rehabilitation assessment unit assesses human body physiological state by the breathing rate in biofeedback signals, pulse rate, heart rate, generates body
Condition adjustment factor and physiological statuss alarm signal in body status feedback signal, feeds back to main control unit adjustment limbs and moves
Make intensity, maintain stable physiological statuss；When judging that trainer is excessively tired out, system provides alarm signal, reminds and terminates instruction
Practice；
Rehabilitation assessment unit assesses the rehabilitation shape of muscle by the electromyographic signal rhythm and pace of moving things energy variation trend in biofeedback signals
State, generates the muscular states adjustment factor in condition feedback signal to main control unit, active accommodation rehabilitation training
Intensity, it is ensured that the effectiveness of rehabilitation training.
After using the system and control method of the present invention, in rehabilitation training, the physiological statuss of dynamic evaluation rehabilitation clients allow
Rehabilitation training person carries out rehabilitation training, not overtraining in the state of physiology license all the time, it is ensured that the instruction of rehabilitation training person
Practice safety, it is ensured that the persistence of rehabilitation training plans；Further, can be adjusted with the fatigue state of dynamic evaluation limb muscle
Whole training strength, to ensure that muscle was not at fatigue state, it is ensured that the lasting effect of rehabilitation.
Description of the drawings
Fig. 1 is present system block diagram；
Fig. 2 is control method flow chart of the present invention；
Fig. 3 is rehabilitation assessment theory diagram；
Fig. 4 is rehabilitation assessment flow chart；
Fig. 5 is movement angle rhythm and pace of moving things figure, for extracting the rhythm and pace of moving things of motion；
Fig. 6 is electromyographic signal variation diagram；
Fig. 7 is myoelectricity rhythm and pace of moving things energy variation figure；
Fig. 8 is changes in heart rate figure.
Specific embodiment
As shown in Figure 1, a kind of Wearable limb rehabilitation training system, it includes：
Auxiliary power unit, to wearer the auxiliary power of limb action is provided；
Physical quantity collecting unit, detects the physical quantity of wearer's limb action, and is supplied to physical quantity processing unit；
Physical quantity processing unit, the physical quantity that extracts physical amount collecting unit is provided, generation action feedback signal is supplied to master control
Unit；
Physiological signal collection unit, detects the electromyographic signal of wearer's limb action, and is supplied to physiological single processing unit；
Physiological single processing unit, extracts electromyographic signal and generates EMG feedback signal to main control unit, main control unit, using life
The action feedback signal that the real-time EMG feedback signal and physical quantity processing unit that reason signal processing unit is generated is provided, generates control
Signal processed drives auxiliary power unit work；
The physiological signal collection unit also detects the physiological signal of wearer, and the physiological single processing unit is believed according to physiology
The physiological signal that number collecting unit is provided generates biofeedback signals and is supplied to rehabilitation assessment unit；
The rehabilitation assessment unit, the rehabilitation of wearer is assessed according to the biofeedback signals of physiological single processing unit offer
State, there is provided condition feeds back signal to main control unit；
The condition feedback signal that the main control unit feeds back according to the rehabilitation assessment unit, during to wearer's rehabilitation exercise
Limb action intensity make adjustment.
When the condition feedback signal that the main control unit is received shows that wearer is not suitable for continuing to move, to state
Alarm unit sends alarm signal, and the status alert unit is used to receiving the alarm signal that main control unit sends and realizes report
It is alert；
The physical quantity of the limb action of described physical quantity collecting unit collection includes angle, angular velocity, acceleration and pressure, institute
State the position of centre of gravity physical quantity that physical quantity collecting unit also gathers wearer's own bodies；Described physiological signal collection unit is adopted
The physiological signal of collection includes electrocardiosignal, pulse signal and breath signal；
The biofeedback signals include electromyographic signal rhythm and pace of moving things energy variation trend, breathing rate, pulse rate and heart rate；
The condition feedback signal includes that condition adjustment factor, muscular states adjust system and physiological statuss alarm signal
Number；
The physical quantity of the physical quantity collecting unit acquisition angles, angular velocity, acceleration, pressure and center of gravity, by angle sensor
Device, acceleration transducer, pressure transducer and gyroscope etc. gather signal to realize detecting.Angle detection mainly detection wearing
The angle of limbs, can extract the rhythm and pace of moving things of limb motion when the limb rehabilitating of person is moved；Limb rehabilitating motion simultaneously needs to provide
Power-assisted change according to the change of angle.During limb motion, angular velocity and acceleration are detected, calculate limbs and people
The movement velocity change of body.Pressure detecting, because wearer's limbs to a direction when exerting oneself, can cause the shape of sensor
Become, produce corresponding signal output, can be determined that wearer's limbs want the direction moved by the signal.The center of gravity inspection of body
Survey, the change of position of centre of gravity when predominantly detecting physical activity, the coordination exercise of real-time regulation each limbs joint, it is ensured that human body is transported
Dynamic stationarity.
During physiological signal collection, taken by surface myoelectric sensor, EGC sensor, pulse transducer, respiration pickup
Electromyographic signal, breath signal, electrocardiosignal and the pulse signals of wearer must be obtained.Above-mentioned sensor may be contained within human body
Skin surface, wherein electromyographic signal and electrocardiosignal can the multiple diverse locations of synchronous acquisition signal.The physiological signal for collecting
Low-pass filtering, the high-pass filtering of signal are carried out by analog circuit, notch filter amplifies, separates, and therefrom extracts characteristic frequency model
The physiological signal for enclosing, is transferred to analog to digital conversion circuit and changes into digital quantity signal, and passes to the central authorities' process in main control unit
Device, central processing unit can be using ARM, DSP, MIPS, FPGA etc..
As shown in Figure 2, the control method of Wearable limb rehabilitation training system,
In the Wearable limb rehabilitation training system in the state of dress training, physical quantity collecting unit will be collected
Physical quantity passes to physical quantity processing unit, and formation action after physical quantity processing unit processes feeds back signal to main control unit, raw
The physiological signal for collecting is passed to physiological single processing unit by reason signal gathering unit, and physiological single processing unit is by physiology
Limb action electromyographic signal in signal generates real-time EMG feedback signal and is processed to main control unit after processing, according to myoelectricity
Signal frequency, amplitude judge the action wish of wearer, and when without action wish physiological signal is resurveyed, and anticipate when there is action
During hope, main control unit is according to electromyographic signal and physical quantity signal（Including angle signal, angular velocity signal, acceleration signal and pressure
Force signal）Control signal is produced to auxiliary power unit, auxiliary power unit provides the auxiliary power of limb action to wearer,
Physiological single processing unit gathers the physiological signal of wearer itself, is generated after physiological single processing cell processing biological anti-
Feedback signal, by the signal rehabilitation assessment unit is fed back to, and condition feedback signal back is generated after rehabilitation assessment cell processing
To main control unit, Correction and Control signal, the corresponding limbs fortune of the amplitude and velocity interpolation that auxiliary power unit is adjusted as needed
Dynamic or generation condition signal alarm；
Specific evaluation process is as shown in Figure 3：
The physiological signal of physiological signal collection unit collection includes electrocardiosignal, breath signal and pulse signal, at physiological signal
Reason unit is calculated including the biofeedback signals including breathing rate, pulse rate, heart rate, according to these biofeedback signals, health
Reexamine and estimate unit evaluation human body physiological state, and the condition regulation coefficient for obtaining and physiological statuss alarm signal are fed back to
Main control unit, adjustment limb action intensity, the stable physiological statuss of maintenance；When judging that trainer is excessively tired out, system is given
Alarm signal, reminds and terminates training；In limb rehabilitating system in the state of dress training, physiological single processing unit is to adopting
The electromyographic signal for collecting carries out processing the variation tendency for obtaining electromyographic signal rhythm and pace of moving things energy, according to the trend, rehabilitation assessment unit
The rehabilitation state and fatigue state of assessment muscle, generates muscle regulation coefficient and passes to main control unit, active accommodation rehabilitation training
Process；
When wearer wears rehabilitation training system and carries out rehabilitation training, the physiological signal of wearer is detected, therefrom extract real-time myoelectricity
Signal, generates EMG feedback signal to main control unit, generates the basic control signal of auxiliary power unit, corresponding electromyographic signal
During increase, the direction confirmed according to the electromyographic signal provides power-assisted, and according to the size of electromyographic signal the big of power-assisted is provided in proportion
It is little；
When wearer wears rehabilitation training system and carries out rehabilitation training, the physical quantity signal of wearer is detected, extract the angle of limbs
The signals such as degree, limb motion amplitude, form the circadian signal of limb motion, there is provided give physiological single processing list by above-mentioned signal
Unit；Physiological single processing unit forms the electromyographic signal energy of each rhythm and pace of moving things according to circadian signal and electromyographic signal, further takes
The energy trend changed according to the rhythm and pace of moving things is obtained, for assessing the muscle fatigue state of rehabilitation clients, using muscle fatigue feedback of status, works as flesh
When electric rhythm and pace of moving things energy and myoelectricity rhythm and pace of moving things energy gradient are higher than the upper limit or less than lower limit, system provides alarm signal, reminds
The rehabilitation care provider intervention adjustment rehabilitation training time, it is ensured that rehabilitation training person is not at muscle and crosses fatigue state；
Rehabilitation assessment unit assesses human body physiological state by the breathing rate in biofeedback signals, pulse rate, heart rate, generates body
Condition adjustment factor and physiological statuss alarm signal in body status feedback signal, feeds back to main control unit adjustment limbs and moves
Make intensity, maintain stable physiological statuss；When judging that trainer is excessively tired out, system provides alarm signal, reminds and terminates instruction
Practice；
Rehabilitation assessment unit assesses the rehabilitation shape of muscle by the electromyographic signal rhythm and pace of moving things energy variation trend in biofeedback signals
State, generates the muscular states adjustment factor in condition feedback signal to main control unit, active accommodation rehabilitation training
Intensity, it is ensured that the effectiveness of rehabilitation training.
Rehabilitation assessment unit mainly assesses two indices, muscle fatigue assessment and physiological fatigue assessment；
Muscle fatigue assessment is determined using the variation tendency of the myoelectricity energy signal of each motion rhythm and pace of moving things, with the fatigue strength of muscle
Intensification, the energy of every rhythm and pace of moving things of myoelectricity gradually reduces, and the rhythm and pace of moving things of motion is adjusted according to the rate of change of energy, and muscle fatigue adds
Hurry up, then slow down the motion rhythm and pace of moving things, muscle is slowly tired, then can suitably accelerate the motion rhythm and pace of moving things, when electromyographic signal energy variation trend
Status information now and alarm signal are sent to into main control unit during higher than alert limit value or less than lower warning limit value, are realized
Report to the police, remind rehabilitation care provider intervention, adjusting training plan or termination rehabilitation training.
Physiological fatigue assessment is mainly controlled by the heart rate and change rate of heartbeat of physiological signal extraction, is specifically shown in Fig. 4 institutes
Show, when wearer wears rehabilitation training system and carries out rehabilitation training, dressed by sensor acquisition such as electrocardio, pulse or breathings
The physiological signal of person, including electrocardiosignal, breath signal and pulse signal, calculate heart rate（Can come from electrocardio, pulse or
The sensors such as breathing）, the biofeedback signals such as change rate of heartbeat, condition is generated by rehabilitation assessment unit and is fed back signal to
Main control unit, Correction and Control signal, it is ensured that the heart rate of rehabilitation training person is steady.When heart rate and change rate of heartbeat are higher than alert limit
Status information now and alarm signal are sent to main control unit by value less than during lower warning limit value, realize reporting to the police；Remind health
Multiple care provider's intervention, confirms rehabilitation training person's condition, it is to avoid rehabilitation training person is in the hole.
As shown in Fig. 5 to Fig. 8, after being device of a certain wearer using the present invention, after carrying out limb motion, items are measured
Specific data, can be seen that the present invention by these data can effectively detect the physiological statuss of wearer, and protect
Card is in all the time safety and stability state in body.
Claims (13)
1. a kind of Wearable limb rehabilitation training system, it includes：
Auxiliary power unit, to wearer the auxiliary power of limb action is provided；
Physical quantity collecting unit, detects the physical quantity of wearer's limb action, and is supplied to physical quantity processing unit；
Physical quantity processing unit, the physical quantity that extracts physical amount collecting unit is provided, generation action feedback signal is supplied to master control
Unit；
Physiological signal collection unit, detects the electromyographic signal of wearer's limb action, and is supplied to physiological single processing unit；
Physiological single processing unit, extracts real-time electromyographic signal and generates real-time EMG feedback signal to main control unit；
What main control unit, the real-time EMG feedback signal generated using physiological single processing unit and physical quantity processing unit were provided
Action feedback signal, generates control signal and drives auxiliary power unit work,
It is characterized in that：The physiological signal collection unit also detects the physiological signal of wearer, the physiological single processing list
Unit generates biofeedback signals and is supplied to rehabilitation assessment unit according to the physiological signal that physiological signal collection unit is provided；
The rehabilitation assessment unit, the rehabilitation of wearer is assessed according to the biofeedback signals of physiological single processing unit offer
State, there is provided condition feeds back signal to main control unit；
The condition feedback signal that the main control unit feeds back according to the rehabilitation assessment unit, during to wearer's rehabilitation exercise
Limb action intensity adjust.
2. Wearable limb rehabilitation training system according to claim 1, it is characterised in that：The main control unit is received
Condition feedback signal show wearer be not suitable for continue move when, send alarm signal to status alert unit, it is described
Status alert unit is used to receiving the alarm signal that main control unit sends and realizes reporting to the police.
3. Wearable limb rehabilitation training system according to claim 1, it is characterised in that：
The physical quantity of the limb action of described physical quantity collecting unit collection includes angle, angular velocity, acceleration and pressure, institute
State the position of centre of gravity physical quantity that physical quantity collecting unit also gathers wearer's own bodies.
4. Wearable limb rehabilitation training system according to claim 1, it is characterised in that：
Described physiological signal collection unit also gathers electrocardiosignal, pulse signal and breath signal.
5. Wearable limb rehabilitation training system according to claim 1 described in, it is characterised in that：The biofeedback letter
Number include the variation tendency of electromyographic signal rhythm and pace of moving things energy, breathing rate, pulse rate and heart rate.
6. Wearable limb rehabilitation training system according to claim 1, it is characterised in that：The condition feedback letter
Number include muscular states adjustment factor, condition adjustment factor and physiological statuss alarm signal.
7. using the control method of the Wearable limb rehabilitation training system described in claim 1, it is characterised in that
In the Wearable limb rehabilitation training system in the state of dress training, physical quantity collecting unit will be collected
Physical quantity passes to physical quantity processing unit, and formation action after physical quantity processing unit processes feeds back signal to main control unit, raw
The physiological signal for collecting is passed to physiological single processing unit by reason signal gathering unit, and physiological single processing unit is by physiology
Limb action electromyographic signal in signal generates real-time EMG feedback signal and is processed to main control unit after processing, main control unit
Control signal is produced to auxiliary power unit according to real-time EMG feedback signal and action feedback signal；Auxiliary power unit is worn
Wearer provides the auxiliary power of limb action；Physiological single processing unit will generate biofeedback signals and give after physiological single processing
Rehabilitation assessment unit, generates condition and feeds back signal to main control unit after rehabilitation assessment unit evaluation biofeedback signals, repair
Positive control signal provides alarm signal.
8. the control method of Wearable limb rehabilitation training system according to claim 7, it is characterised in that：Physiological signal
The physiological signal of collecting unit collection includes electrocardiosignal, breath signal and pulse signal, and physiological single processing unit is calculated
Including the physiological parameter including breathing rate, pulse rate, heart rate, according to these physiological parameters, the life of rehabilitation assessment unit evaluation human body
Reason state, and feed back to the stable physiological statuss of main control unit adjustment limb action intensity maintenance；When judgement, trainer is excessively tired
When exhausted, system provides alarm signal, reminds and terminates training；In limb rehabilitating system in the state of dress training, physiology letter
Number processing unit carries out processing the variation tendency for obtaining electromyographic signal rhythm and pace of moving things energy to the electromyographic signal for collecting, and becomes according to this
Gesture, the rehabilitation state and fatigue state of rehabilitation assessment unit evaluation muscle, and assessment result is fed back into main control unit, active accommodation
Rehabilitation training.
9. the control method of the Wearable limb rehabilitation training system according to claim 7 or 8, it is characterised in that：
When wearer wears rehabilitation training system and carries out rehabilitation training, the physiological signal of wearer is detected, therefrom extract real-time myoelectricity
Signal, generates EMG feedback signal to main control unit, generates the basic control signal of auxiliary power unit；Corresponding electromyographic signal
During increase, the direction confirmed according to the electromyographic signal provides power-assisted, and according to the size of electromyographic signal the big of power-assisted is provided in proportion
It is little.
10. the control method of Wearable limb rehabilitation training system according to claim 9, it is characterised in that：In wearing
When person wears rehabilitation training system and carries out rehabilitation training, the physical quantity signal of wearer is detected, extract angle, the limb motion of limbs
The signals such as amplitude, form the circadian signal of limb motion, there is provided give physiological single processing unit by above-mentioned signal；Physiological signal
Processing unit forms the electromyographic signal energy of each rhythm and pace of moving things according to circadian signal and electromyographic signal, further obtains and becomes according to the rhythm and pace of moving things
The energy trend of change, for assessing the muscle fatigue state of rehabilitation clients, using muscle fatigue feedback of status, when myoelectricity rhythm and pace of moving things energy
And myoelectricity rhythm and pace of moving things energy gradient, higher than the upper limit or during less than lower limit, system provides alarm signal, rehabilitation guardian is reminded
Member's intervention adjustment rehabilitation training time, it is ensured that rehabilitation training person is not at the excessively tired shape of muscle.
The control method of the 11. Wearable limb rehabilitation training systems according to claim 7,8 or 10, it is characterised in that：
When wearer wears rehabilitation training system and carries out rehabilitation training, the physiological signal of wearer is detected, therefrom extract heart rate and the heart
The rate of change of rate, assesses the fatigue state of the body of rehabilitation training person, is fed back using fatigue state, dynamically adjusts rehabilitation training
Intensity, it is ensured that rehabilitation training person is in physiology plateau；When heart rate is higher than the upper limit or during less than lower limit, system provides warning
Signal, reminds rehabilitation care provider intervention, confirms rehabilitation training person's condition, it is to avoid rehabilitation training person is in the hole.
The control method of 12. Wearable limb rehabilitation training systems according to claim 11, it is characterised in that：Rehabilitation is commented
Estimate unit and human body physiological state is assessed by the breathing rate in biofeedback signals, pulse rate, heart rate, generate condition feedback
Condition adjustment factor and physiological statuss alarm signal in signal, feeds back to main control unit adjustment limb action intensity, dimension
Hold stable physiological statuss；When judging that trainer is excessively tired out, system provides alarm signal, reminds and terminates training.
The control method of 13. Wearable limb rehabilitation training systems according to claim 12, it is characterised in that：Rehabilitation is commented
Unit is estimated by the electromyographic signal rhythm and pace of moving things energy variation trend in biofeedback signals, assess the rehabilitation state of muscle, generate body
Muscular states adjustment factor in body status feedback signal is to main control unit, the intensity of active accommodation rehabilitation training, it is ensured that
The effectiveness of rehabilitation training.
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| CN114732679A (en) * | 2021-01-07 | 2022-07-12 | 丰田自动车株式会社 | Electric assist device and control device |
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| CN112932474A (en) * | 2021-01-26 | 2021-06-11 | 国家康复辅具研究中心 | Rehabilitation training method and system based on cerebral blood oxygen and electromyographic signals |
| CN112932474B (en) * | 2021-01-26 | 2022-04-01 | 国家康复辅具研究中心 | Rehabilitation training method and system based on cerebral blood oxygen and electromyographic signals |
| CN113018100A (en) * | 2021-03-22 | 2021-06-25 | 中国人民解放军空军军医大学 | Intracardiac branch of academic or vocational study guardianship undershirt that possesses recovered function of taking exercise |
| WO2024103467A1 (en) * | 2022-11-18 | 2024-05-23 | 深圳先进技术研究院 | Exercise state determination method and system applied to lower limb rehabilitation training |
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